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<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1recognition_1_1_o_r_r_octree-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::recognition::ORROctree类 参考</div>  </div>
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<p>That's a very specialized and simple octree class. That's the way it is intended to be, that's why no templates and stuff like this.  
 <a href="classpcl_1_1recognition_1_1_o_r_r_octree.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="ransac__based_2orr__octree_8h_source.html">orr_octree.h</a>&gt;</code></p>
<table class="memberdecls">
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">Node</a></td></tr>
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Public 类型</h2></td></tr>
<tr class="memitem:ae77dce8d6abc55ea971a6cedf30a5393"><td class="memItemLeft" align="right" valign="top"><a id="ae77dce8d6abc55ea971a6cedf30a5393"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">pcl::Normal</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudN</b></td></tr>
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Public 成员函数</h2></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>clear</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a21fe7e0f3ed8ef7eb723e06775f6eb55">build</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;points, float voxel_size, const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudN</a> *normals=NULL, float enlarge_bounds=0.00001f)</td></tr>
<tr class="memdesc:a21fe7e0f3ed8ef7eb723e06775f6eb55"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates an octree which encloses 'points' and with leaf size equal to 'voxel_size'. 'enlarge_bounds' makes sure that no points from the input will lie on the octree boundary by enlarging the bounds by that factor. For example, enlarge_bounds = 1 means that the bounds will be enlarged by 100%. The default value is fine. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a6400cdd8040a10b2fbe4ef04a2434ca9">build</a> (const float *bounds, float voxel_size)</td></tr>
<tr class="memdesc:a6400cdd8040a10b2fbe4ef04a2434ca9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates an empty octree with bounds at least as large as the ones provided as input and with leaf size equal to 'voxel_size'. <br /></td></tr>
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<a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a84d3bfb8bb1d80cb6855b089a29a23a4">createLeaf</a> (float x, float y, float z)</td></tr>
<tr class="memdesc:a84d3bfb8bb1d80cb6855b089a29a23a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates the leaf containing p = (x, y, z) and returns a pointer to it, however, only if p lies within the octree bounds! A more general version which allows p to be out of bounds is not implemented yet. The method returns NULL if p is not within the root bounds. If the leaf containing p already exists nothing happens and method just returns a pointer to the leaf. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a8fe1aefef51a4375d5d635312ecd67dc">getFullLeavesIntersectedBySphere</a> (const float *p, float radius, std::list&lt; <a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a> * &gt; &amp;out) const</td></tr>
<tr class="memdesc:a8fe1aefef51a4375d5d635312ecd67dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method returns a super set of the full leavess which are intersected by the sphere with radius 'radius' and centered at 'p'. Pointers to the intersected full leaves are saved in 'out'. The method computes a super set in the sense that in general not all leaves saved in 'out' are really intersected by the sphere. The intersection test is based on the leaf radius (since its faster than checking all leaf corners and sides), so we report more leaves than we should, but still, this is a fair approximation. <br /></td></tr>
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<a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#acf19048a461fb6a54b3b74d1d81eb65d">getRandomFullLeafOnSphere</a> (const float *p, float radius) const</td></tr>
<tr class="memdesc:acf19048a461fb6a54b3b74d1d81eb65d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Randomly chooses and returns a full leaf that is intersected by the sphere with center 'p' and 'radius'. Returns NULL if no leaf is intersected by that sphere. <br /></td></tr>
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<a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a9cdbc161b012778299a0c3ec73946e6e">getLeaf</a> (int i, int j, int k)</td></tr>
<tr class="memdesc:a9cdbc161b012778299a0c3ec73946e6e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Since the leaves are aligned in a rectilinear grid, each leaf has a unique id. The method returns the leaf with id [i, j, k] or NULL is no such leaf exists. <br /></td></tr>
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<tr class="memitem:a226ab3bc336ddf40b65acef96958a3f9"><td class="memItemLeft" align="right" valign="top"><a id="a226ab3bc336ddf40b65acef96958a3f9"></a>
<a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a226ab3bc336ddf40b65acef96958a3f9">getLeaf</a> (float x, float y, float z)</td></tr>
<tr class="memdesc:a226ab3bc336ddf40b65acef96958a3f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a pointer to the leaf containing p = (x, y, z) or NULL if no such leaf exists. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#a214263da240c970c83203f86ea1246dd">deleteBranch</a> (<a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">Node</a> *node)</td></tr>
<tr class="memdesc:a214263da240c970c83203f86ea1246dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deletes the branch 'node' is part of. <br /></td></tr>
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std::vector&lt; <a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a> * &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree.html#ac91c845365fae9fd9d4e270d5471f750">getFullLeaves</a> ()</td></tr>
<tr class="memdesc:ac91c845365fae9fd9d4e270d5471f750"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a vector with all octree leaves which contain at least one point. <br /></td></tr>
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const std::vector&lt; <a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a> * &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>getFullLeaves</b> () const</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>getFullLeavesPoints</b> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;out) const</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>getNormalsOfFullLeaves</b> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudN</a> &amp;out) const</td></tr>
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<a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">ORROctree::Node</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>getRoot</b> ()</td></tr>
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const float *&#160;</td><td class="memItemRight" valign="bottom"><b>getBounds</b> () const</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>getBounds</b> (float b[6]) const</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>getVoxelSize</b> () const</td></tr>
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<tr class="memitem:accc85ef386cf4292cfa83c8467a3c006"><td class="memItemLeft" align="right" valign="top"><a id="accc85ef386cf4292cfa83c8467a3c006"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>insertNeighbors</b> (<a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">Node</a> *node)</td></tr>
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Protected 属性</h2></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_size_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>bounds_</b> [6]</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>tree_levels_</b></td></tr>
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<a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">Node</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>root_</b></td></tr>
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std::vector&lt; <a class="el" href="classpcl_1_1recognition_1_1_o_r_r_octree_1_1_node.html">Node</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>full_leaves_</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>That's a very specialized and simple octree class. That's the way it is intended to be, that's why no templates and stuff like this. </p>
<dl class="section author"><dt>作者</dt><dd>Chavdar Papazov </dd></dl>
</div><hr/>该类的文档由以下文件生成:<ul>
<li>recognition/include/pcl/recognition/ransac_based/<a class="el" href="ransac__based_2orr__octree_8h_source.html">orr_octree.h</a></li>
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